Penelo is one of the main playable protagonists of the Final Fantasy XII series. Like Vaan, Penelo calls Rabanastre's Lowtown home. She watches over Vaan, trying to keep him from getting into too much trouble.

Though she lost her family in the war with the Empire, Penelo is ever cheerful, making her way by doing odd jobs in and around the city.
She enjoys the lighter side of life, but Penelo is not altogether unfamiliar with battle. While she remains untested in a true fight, her brothers, who belonged to the Order, taught her the fundamentals of combat. Penelo believes that in perseverance there is a hope.

Vaan's friend. (FFXII Game Description)

Vaan's childhood friend, always there to lend a helping hand - or a proper scolding. Penelo is ever the faithful navigator, even when Vaan strays off course in new (and alarming) ways. (Revenant Wings Game Description)

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Penelo is introduced as a young orphan living on the streets of Rabanastre, working for local store proprieter Migelo doing various errands. After Vaan's parents were taken by the plague, Penelo's family took in Vaan and his brother Reks. A couple years later, Reks and Penelo's family were killed in Dalmasca's war against Archadia. Penelo discourages Vaan's pursuit of becoming a sky pirate, asking him instead to accept that she and the other orphans of Rabanastre need his leadership. Penelo takes on a motherly role, often scolding Vaan for getting into trouble.

Penelo catches Vaan stealing

Later, when Vaan is caught for stealing from the Palace treasury, Penelo begs for his freedom. She is intercepted, however, by Balthier, who assures his safe return. This small encounter between Penelo and Balthier ends up getting her kidnapped by Ba'Gamnan, a headhunter who uses her as bait in order to capture Balthier. She is taken to the Lhusu Mines in Bhujerba, but set free once the party arrives. Outside the mines, she is captured by Archadian soldiers and taken to Archadia. There, Larsa Solidor orders her release and Penelo is kept under his safe care. As a sign of their friendship, Larsa gives her a piece of manufacted nethicite.

Penelo and Vaan reunite aboard the Leviathan, where the nethicite protects them from Judge Ghis' magickal attack. Together with the rest of the party, Penelo escapes the clutches of the Empire and joins Ashe on her journey to re-establish her station as princess of Dalmasca.

Penelo is given the honor of narrating the ending sequence of the game, indicating that she and Vaan have been living in Rabanastre under the rule of Ashe, who is now queen of Dalmasca. After Balthier and Fran reclaim the Strahl, Vaan becomes the owner of his own airship with Penelo as his partner.